Patrol system and method thereof

Abstract

A patrol system for performing a night patrol using an indoor robot includes at least one robot and a control device that controls the at least one robot. The control device performs a night patrol for a patrol target using the at least one robot, receives a request to identify an unidentified moving object from a first robot among the at least one robot during the night patrol, selects a second robot to identify the unidentified moving object among the at least one robot in response to the request, and identifies the unidentified moving object using the second robot.

1 . A patrol system, comprising:
 at least one robot; and   a control device configured to control the at least one robot;   wherein the control device is configured to:   perform a night patrol for a patrol target using the at least one robot;   receive a request to identify an unidentified moving object from a first robot among the at least one robot during the night patrol;   select a second robot to identify the unidentified moving object among the at least one robot in response to the request; and   identify the unidentified moving object using the second robot.   
     
     
         2 . The patrol system of  claim 1 , wherein the at least one robot includes:
 a communication device;   a memory; and   a controller connected with the communication device and the memory; and   wherein the controller is configured to:   receive a patrol path transmitted from the control device through the communication device; and   update a patrol path stored in the memory using the received patrol path.   
     
     
         3 . The patrol system of  claim 2 , wherein the controller is further configured to:
 receive a patrol initiation command transmitted from the control device using the communication device; and   initiate patrolling of the patrol target along the patrol path stored in the memory in response to the patrol initiation command.   
     
     
         4 . The patrol system of  claim 2 , wherein the controller is further configured to:
 detect a first object from an image obtained by a camera included in the at least one robot;   determine whether the first object is a person object;   determine whether the first object is an authorized person based on appearance information of the first object in response to determining that the first object is the person object; and   transmit information indicating that there is an object which is not allowed to enter the patrol target to the control device in response to determining that the first object is not the authorized person.   
     
     
         5 . The patrol system of  claim 4 , wherein the controller is further configured to:
 continue patrolling the patrol target in response to determining that the first object is not the person object or in response to determining that the first object is the person object and is the authorized person.   
     
     
         6 . The patrol system of  claim 2 , wherein the controller is further configured to:
 detect a second object based on a point cloud generated by light detection and ranging (LiDAR);   determine whether the second object is a moving object;   identify whether the second object is within a view of a camera included in each of the at least one robot in response to determining that the second object is the moving object; and   transmit a request to identify the second object to the control device in response to identifying that the second object is out of the view of the camera.   
     
     
         7 . The patrol system of  claim 6 , wherein the controller is further configured to:
 identify whether the second object is an object detected by the camera in response to identifying that the second object is within the view of the camera; and   transmit the request to identify the second object to the control device in response to identifying that the second object is not the object detected by the camera.   
     
     
         8 . The patrol system of  claim 7 , wherein the controller is further configured to:
 continue patrolling the patrol target in response to identifying that the second object is the object detected by the camera.   
     
     
         9 . The patrol system of  claim 6 , wherein the controller is further configured to:
 continue patrolling the patrol target in response to identifying that the second object is not the moving object.   
     
     
         10 . The patrol system of  claim 1 , wherein the control device is further configured to:
 select a robot to identify the unidentified moving object based on a distance from a robot which requests to identify the unidentified moving object.   
     
     
         11 . The patrol system of  claim 1 , wherein the control device is further configured to:
 correct a patrol path of the second robot; and   transmit the corrected patrol path to the second robot.   
     
     
         12 . A patrol method, comprising:
 performing, by a control device, a night patrol for a patrol target using at least one robot;   receiving, by the control device, a request to identify an unidentified moving object from a first robot among the at least one robot during the night patrol;   selecting, by the control device, a second robot to identify the unidentified moving object among the at least one robot in response to the request; and   identifying, by the control device, the unidentified moving object using the second robot.   
     
     
         13 . The patrol method of  claim 12 , wherein performing the night patrol includes:
 transmitting, by the control device, a patrol initiation command and a patrol path to the at least one robot; and   initiating, by the at least one robot, to patrol the patrol target along the patrol path.   
     
     
         14 . The patrol method of  claim 12 , wherein receiving the request to identify the unidentified moving object includes:
 detecting, by the first robot, a first object from an image obtained by a camera included in the first robot;   determining, by the first robot, whether the first object is a person object;   determining, by the first robot, whether the first object is an authorized person based on appearance information of the first object in response to determining that the first object is the person object; and   transmitting, by the first robot, information indicating that there is an object which is not allowed to enter the patrol target to the control device in response to determining that the first object is not the authorized person.   
     
     
         15 . The patrol method of  claim 14 , further comprising:
 continuing, by the first robot, patrolling the patrol target in response to determining that the first object is not the person object or in response to determining that the first object is the person object and is the authorized person.   
     
     
         16 . The patrol method of  claim 12 , wherein receiving the request to identify the unidentified moving object includes:
 detecting, by the first robot, a second object based on a point cloud generated by LiDAR included in the first robot;   determining, by the first robot, whether the second object is a moving object;   identifying, by the first robot, whether the second object is within a view of a camera included in the first robot in response to determining that the second object is the moving object; and   transmitting, by the first robot, a request to identify the second object to the control device, when it is identified that the second object is out of the view of the camera.   
     
     
         17 . The patrol method of  claim 16 , further comprising:
 identifying, by the first robot, whether the second object is an object detected by the camera in response to identifying that the second object is within the view of the camera; and   transmitting, by the first robot, the request to identify the second object to the control device in response to identifying that the second object is not the object detected by the camera.   
     
     
         18 . The patrol method of  claim 16 , further comprising:
 continuing, by the first robot, patrolling the patrol target in response to determining that the second object is not the moving object or in response to identifying that the second object is an object detected by the camera.   
     
     
         19 . The patrol method of  claim 12 , wherein selecting the second robot includes:
 selecting, by the control device, the second robot based on a distance from the first robot.   
     
     
         20 . The patrol method of  claim 12 , wherein identifying the unidentified moving object includes:
 correcting, by the control device, a patrol path of the second robot; and   transmitting, by the control device, the corrected patrol path to the second robot.